Turn a SDFormat string into an object tree.
The returned object tree is oppinionated. In addition to converting the tree, it does the following:
Some SDFormat elements are ignored/not implemented (contributions welcome!)
its variable names differ from SDFormat
If an element may have multiple children of the same kind, they corresponding attribute uses plural instead of singular, e.g.
If different SDF versions use different names for the same variable, they are converted into the name used in the most recent SDFormat version. Old names are still available via a @property and will raise a depreciation warning.
it converts all vectors to numpy arrays
it resolves includes, removes them, and inserts the included element
it appends __model__ to frame references where necessary
A string containing SDFormat XML.
The root/sdf element of the generic SDF representation.